tf2
Table of Content
transformations#
A transform specifies how data expressed in a frame can be transformed into a different frame
tf#
Any node can use the tf2 libraries to broadcast a transform from one frame to another
each frame is defined by one (and only one) transform from another frame, but can have any number of frames dependent on it, this create a tree structure of frames the library can calculat any transformation between tow frames (nodes)
tf2 library using topics /tf and /tf_static th handle communication, because the tf2 library pub/sub the messages we call it broadcasting and listening
tf_echo: returns the transforms between any connected frames#
install tf2 tools and helper libraries#
sudo apt-get install \
ros-humble-tf2-tools \
ros-humble-tf-transformations \
ros-humble-rqt-tf-tree